RaiSim Engine 2

Availability

RaiSim Engine 2 is an internal, closed-source authoring component. It is not part of the public raisim2Lib distribution. The public repository does not ship Engine 2 executables, headers, libraries, CMake targets, examples, or tests, so users cannot build or invoke it from raisim2Lib.

The public package boundary is the downloaded RaiSim and rayrai binaries and headers together with the example, wrapper, resource, and documentation sources in raisim2Lib. Engine 2 implementation paths and internal build options are therefore intentionally not documented as user workflows.

Public Alternatives

Use the supported public interfaces instead:

• construct and modify a raisim::World through the C++ or RaisimPy API;

• load RaiSim XML, MJCF, or OpenUSD scenes as documented in World Configuration File and OpenUSD Loading;

• use rayrai Visualizer or Rayrai TCP Viewer for visualization; and

• use RaisimGymTorch for reinforcement-learning training.

.rscene and .re2 are internal Engine 2 formats, not supported public interchange formats in the current binary release. See .rscene File for the public availability boundary.